JP2014004271A - Washing machine - Google Patents
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- JP2014004271A JP2014004271A JP2012143725A JP2012143725A JP2014004271A JP 2014004271 A JP2014004271 A JP 2014004271A JP 2012143725 A JP2012143725 A JP 2012143725A JP 2012143725 A JP2012143725 A JP 2012143725A JP 2014004271 A JP2014004271 A JP 2014004271A
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Abstract
Description
本発明は、衣類投入口を開閉する蓋を有する洗濯機に関するものである。 The present invention relates to a washing machine having a lid that opens and closes a clothes slot.
従来、この種の洗濯機では、蓋の開閉を磁石とリードスイッチを用いて検知する構成が提案されてきた。（例えば、特許文献１参照）。 Conventionally, in this type of washing machine, a configuration has been proposed in which the opening and closing of the lid is detected using a magnet and a reed switch. (For example, refer to Patent Document 1).
図５は、特許文献１に記載された従来の洗濯機の縦断面図、図６は、同洗濯機の要部断面図を示す。 FIG. 5 is a longitudinal sectional view of a conventional washing machine described in Patent Document 1, and FIG. 6 is a sectional view of an essential part of the washing machine.
図５、図６において、外槽１は、底部に撹拌翼２を回転自在に配設した洗濯兼脱水槽３を回転自在に内包し、吊り棒４により洗濯機外枠５に吊り下げている。モータ６は、減速機構兼クラッチ７を介して、撹拌翼２または洗濯兼脱水槽３を駆動する。排水弁８は洗濯兼脱水槽３内の洗濯水を排水し、給水弁９は洗濯兼脱水槽３に給水するものである。 In FIGS. 5 and 6, the outer tub 1 includes a washing / dehydrating tub 3 having a stirring blade 2 rotatably disposed at the bottom thereof, and is suspended from the washing machine outer frame 5 by a suspension bar 4. . The motor 6 drives the stirring blade 2 or the washing / dehydrating tub 3 via the speed reduction mechanism / clutch 7. The drain valve 8 drains the washing water in the washing / dehydrating tank 3, and the water supply valve 9 supplies water to the washing / dehydrating tank 3.
洗濯兼脱水槽３の上部には脱水時の振動を低減させるための流体バランサー１０を設け、外槽１の上部に内蓋１１を配設している。また、洗濯機本体上面の衣類投入口１２に蓋１３を開閉自在に配設している。 A fluid balancer 10 for reducing vibration during dehydration is provided at the top of the washing and dewatering tub 3, and an inner lid 11 is disposed at the top of the outer tub 1. In addition, a lid 13 is provided at the clothing input port 12 on the upper surface of the washing machine main body so as to be freely opened and closed.
制御装置１４は、モータ６、排水弁８、給水弁９などの動作を制御し、洗い、すすぎ、脱水の一連の行程を逐次制御するもので、マイクロコンピュータからなる制御手段（図示せず）と、制御手段からの信号によりモータ６、排水弁８、給水弁９などを制御する負荷駆動手段（図示せず）と、操作パネル１７内に配設したキースイッチからなるスイッチ入力手段１８と、発光ダイオードなどの表示装置からなる表示手段１９とを備えている。 The control device 14 controls the operation of the motor 6, the drain valve 8, the water supply valve 9, etc., and sequentially controls a series of steps of washing, rinsing and dehydration, and a control means (not shown) comprising a microcomputer. , Load driving means (not shown) for controlling the motor 6, drain valve 8, water supply valve 9 and the like by signals from the control means, switch input means 18 comprising key switches disposed in the operation panel 17, and light emission And display means 19 including a display device such as a diode.
リードスイッチ２０は、制御装置１４のプリント基板２３上に実装し、樹脂ケース２４によりリードスイッチ２０を支持し、プリント基板２３から一定の高さをもって固定するようになっている。 The reed switch 20 is mounted on a printed circuit board 23 of the control device 14, supports the reed switch 20 with a resin case 24, and is fixed at a certain height from the printed circuit board 23.
また、蓋１３の先端付近に、磁石２５をリードスイッチ２０と対向する位置に配設しており、蓋１３を閉じた状態でリードスイッチ２０の接点は閉じている。そして、制御手段はこのリードスイッチ２０の接点の開閉により、蓋１３の開閉を判断するよう構成している。 Further, a magnet 25 is disposed near the tip of the lid 13 at a position facing the reed switch 20, and the contact of the reed switch 20 is closed with the lid 13 closed. The control means is configured to determine whether the lid 13 is opened or closed by opening / closing the contact of the reed switch 20.
上記構成において、蓋１３を開け、洗濯兼脱水槽３に洗濯物と洗剤を投入した後、蓋１３を閉じて運転を開始すると、給水弁９を作動して洗濯兼脱水槽３内に設定水位まで給水し、その後、撹拌翼２を回転駆動することにより、衣類に機械力を加えて、汚れを落とし、すすぎ時においても、洗濯兼脱水槽３内に設定水位まで給水し、撹拌翼２を回転駆動することにより、衣類をすすぐ。 In the above configuration, after the lid 13 is opened and the laundry and dewatering tub 3 are filled with laundry and detergent, the lid 13 is closed and the operation is started. After that, by rotating and driving the stirring blade 2, mechanical force is applied to the clothes to remove dirt, and even at the time of rinsing, the water is supplied to the set water level in the washing and dewatering tank 3, and the stirring blade 2 is Rinse clothing by rotating it.
脱水時には、排水弁８を駆動し、洗濯兼脱水槽３内の水を排水した後、モータ６を駆動し、洗濯兼脱水槽３を高速で回転して遠心力で洗濯物の脱水を行う。このとき、洗濯物の状態を見るなどのために、蓋１３を開けると、磁石２５がリードスイッチ２０より離れるため、リードスイッチ２０の接点は開となり、制御手段はモータ６を停止し、減速機構兼クラッチ７に内蔵されているブレーキをかけて洗濯兼脱水槽３の回転を停止させる。 At the time of dehydration, the drain valve 8 is driven to drain the water in the washing / dehydrating tub 3, and then the motor 6 is driven to rotate the washing / dehydrating tub 3 at a high speed to dehydrate the laundry by centrifugal force. At this time, when the lid 13 is opened to check the state of the laundry, the magnet 25 is separated from the reed switch 20, so that the contact of the reed switch 20 is opened, the control means stops the motor 6, and the speed reduction mechanism. A brake built in the cum clutch 7 is applied to stop the rotation of the washing and dewatering tub 3.
しかしながら、前記従来の構成では、搭載するリードスイッチは、接点の金属片をガラス管内に封止して、そのガラス管内部には腐食防止のガスを封入しており、構造的にも高価となり、また、ガラス管であるために振動に対する強度や機械的な強度にも弱いという課題があった。 However, in the conventional configuration, the reed switch to be mounted has a metal piece of a contact sealed in a glass tube, and a corrosion-preventing gas is sealed inside the glass tube, which is structurally expensive, In addition, since it is a glass tube, there is a problem that it is weak in vibration strength and mechanical strength.
本発明は、前記従来の課題を解決するもので、磁気センサーを使用することにより、振動に強く、機械的強度にもすぐれ、かつ安価な蓋開閉検知装置を有する洗濯機を提供することを目的としている。 The present invention solves the above-described conventional problems, and an object thereof is to provide a washing machine having a lid open / close detection device that is resistant to vibration, excellent in mechanical strength, and inexpensive by using a magnetic sensor. It is said.
前記従来の課題を解決するために、本発明の洗濯機は、略中央部に衣類投入口を有する上部枠体と、前記上部枠体に配設した操作パネルと、前記操作パネル内部に設けた制御装置と、前記衣類投入口を開閉自在に設けた蓋と、前記蓋に設けた蓋金属板と、前記蓋金属板の下部に対向し前記操作パネル内部に設けた磁石とを備え、前記制御装置は、前記磁石の下部に対向し前記磁石の磁気を検知する磁気センサーを有し、前記磁気センサーは、前記蓋が閉状態よりも開状態の方が検知した磁気が大きくなるよう配置したものである。 In order to solve the above-described conventional problems, the washing machine of the present invention is provided with an upper frame body having a clothing insertion port in a substantially central portion, an operation panel disposed on the upper frame body, and an inside of the operation panel. A control device, a lid provided with the clothing input port so as to be freely opened and closed, a lid metal plate provided on the lid, and a magnet provided inside the operation panel so as to face a lower portion of the lid metal plate. The apparatus has a magnetic sensor that faces the lower part of the magnet and detects the magnetism of the magnet, and the magnetic sensor is arranged so that the magnetism detected when the lid is open is larger than the closed state. It is.
これにより、磁石と蓋開閉検知手段とを近くに配置することができるため、蓋開閉検知手段として磁気センサーの使用が可能となり、振動に強く、機械的強度にもすぐれ、かつ安価な蓋開閉検知を行うことができる。 As a result, the magnet and the lid opening / closing detection means can be arranged close to each other, so that a magnetic sensor can be used as the lid opening / closing detection means, which is resistant to vibration, excellent in mechanical strength, and inexpensive. It can be performed.
本発明の洗濯機は、磁気センサーと金属板との組み合わせで蓋の開閉検知を可能としたため、振動に強く、機械的強度にもすぐれ、かつ安価な蓋開閉検知装置を有する洗濯機を実現することができる。 The washing machine of the present invention can detect the opening and closing of the lid by a combination of a magnetic sensor and a metal plate, thereby realizing a washing machine having a lid opening / closing detection device that is resistant to vibration, excellent in mechanical strength, and inexpensive. be able to.
第１の発明は、略中央部に衣類投入口を有する上部枠体と、前記上部枠体に配設した操作パネルと、前記操作パネル内部に設けた制御装置と、前記衣類投入口を開閉自在に設けた蓋と、前記蓋に設けた蓋金属板と、前記蓋金属板の下部に対向し前記操作パネル内部に設けた磁石とを備え、前記制御装置は、前記磁石の下部に対向し前記磁石の磁気を検知する磁気センサーを有し、前記磁気センサーは、前記蓋が閉状態よりも開状態の方が検知した磁気が大きくなるよう配置したことにより、磁石と蓋開閉検知手段とを近くに配置することができるため、蓋開閉検知手段として磁気センサーの使用が可能となり、振動に強く、機械的強度にもすぐれ、かつ安価な蓋開閉検知を行うことができる。 A first aspect of the present invention is an upper frame having a garment input port at a substantially central portion, an operation panel disposed on the upper frame, a control device provided inside the operation panel, and the garment input port freely openable and closable. A lid provided on the lid, a lid metal plate provided on the lid, and a magnet provided in the operation panel so as to face a lower portion of the lid metal plate, and the control device faces the lower portion of the magnet and A magnetic sensor for detecting the magnetism of the magnet, and the magnetic sensor is arranged such that the magnetism detected when the lid is in the open state is larger than that in the closed state; Therefore, it is possible to use a magnetic sensor as a lid opening / closing detection means, which is resistant to vibration, excellent in mechanical strength, and inexpensive to perform lid opening / closing detection.
第２の発明は、特に、第１の発明の磁気センサーは、半導体磁気抵抗素子を有するので
、磁場により電気抵抗が変化する効果を利用した半導体磁気抵抗素子で構成するので、簡単な構成で、振動に強く、機械的強度にもすぐれ、検知精度が向上するものである。
In the second invention, in particular, since the magnetic sensor of the first invention has a semiconductor magnetoresistive element, it is composed of a semiconductor magnetoresistive element utilizing the effect of changing the electric resistance by a magnetic field. It is strong against vibrations, has excellent mechanical strength, and improves detection accuracy.
以下、発明の実施の形態について、図面を参照しながら説明する。なお、従来例と同じ構成のものは同一符号を付して説明を省略する。また、この実施の形態によって本発明が限定されるものではない。 Hereinafter, embodiments of the invention will be described with reference to the drawings. In addition, the thing of the same structure as a prior art example attaches | subjects the same code | symbol, and abbreviate | omits description. Further, the present invention is not limited by this embodiment.
（実施の形態１）
図１は、本発明の実施の形態における洗濯機の縦断面図、図２は、同洗濯機の制御装置の概略を示すブロック図である。
(Embodiment 1)
FIG. 1 is a longitudinal sectional view of a washing machine according to an embodiment of the present invention, and FIG. 2 is a block diagram showing an outline of a control device of the washing machine.
図１、図２において、洗濯機の上部に設けられた上部枠体３５の前部に操作パネル２７が配設されており、操作パネル２７内部には制御装置３０が収設されている。 In FIG. 1 and FIG. 2, an operation panel 27 is disposed at a front portion of an upper frame 35 provided at an upper portion of the washing machine, and a control device 30 is accommodated inside the operation panel 27.
制御装置３０は、モータ６、排水弁８、給水弁９などの動作を制御し、洗い、すすぎ、脱水の一連の行程を逐次制御するもので、図２に示すように構成しており、マイクロコンピュータからなる制御手段２９と、制御手段２９からの信号によりモータ６、排水弁８、給水弁９などを制御する負荷駆動手段１６と、操作パネル２７内に配設したキースイッチからなるスイッチ入力手段１８と、発光ダイオードなどの表示装置からなる表示手段１９とを備えている。 The control device 30 controls the operation of the motor 6, the drain valve 8, the water supply valve 9, etc., and sequentially controls a series of steps of washing, rinsing and dehydration, and is configured as shown in FIG. Control means 29 comprising a computer, load driving means 16 for controlling the motor 6, drain valve 8, water supply valve 9 and the like by signals from the control means 29, and switch input means comprising key switches disposed in the operation panel 27 18 and display means 19 comprising a display device such as a light emitting diode.
そして、制御手段２９に、制御装置３０のプリント基板３１上に設けた磁気センサー４０の出力を入力している。磁気センサー４０は、磁場により電気抵抗が変化する効果を利用した半導体磁気抵抗素子で構成されており、後述する磁石２５の磁力線密度に応じた値が出力される。また、抵抗２１は、磁気センサー４０と直列に接続され、直流電源２２に接続されている。 Then, the output of the magnetic sensor 40 provided on the printed circuit board 31 of the control device 30 is input to the control means 29. The magnetic sensor 40 is composed of a semiconductor magnetoresistive element that utilizes the effect that the electric resistance changes due to a magnetic field, and outputs a value corresponding to the magnetic line density of the magnet 25 described later. The resistor 21 is connected in series with the magnetic sensor 40 and is connected to the DC power source 22.
上部枠体３５中央の衣類投入口１２を覆うように設けられた開閉自在の蓋２８の先端部裏面には、磁性体例えば鉄板で構成された蓋金属板２６が設けられている。 A lid metal plate 26 made of a magnetic material, for example, an iron plate, is provided on the back surface of the front end portion of the openable / closable lid 28 provided so as to cover the clothing insertion opening 12 at the center of the upper frame 35.
略直方体状の磁石２５は、操作パネル２７の内側上部に取り付けられるとともに、下部側は磁気センサー４０に対向し、上部側は蓋金属板２６に対向して配置されている。 The magnet 25 having a substantially rectangular parallelepiped shape is attached to the inner upper portion of the operation panel 27, and the lower side faces the magnetic sensor 40 and the upper side faces the lid metal plate 26.
磁気センサー４０は、蓋２８が閉じられている状態でロー信号を制御手段２９に入力し、蓋２８が開くとハイ信号を制御手段２９に入力するようにしている。すなわち、磁気センサー４０は、蓋２８が閉状態よりも開状態の方が検知した磁気が大きくなるよう配置されており、例えば、磁石２５と磁気センサー４０との距離よりも、磁石２５と蓋金属板２６との距離の方が短くなるよう配置してある。このように、制御手段２９は、この磁気センサー４０の信号により、蓋２８の開閉を検知するという蓋開閉検知機構となっている。 The magnetic sensor 40 inputs a low signal to the control means 29 with the lid 28 closed, and inputs a high signal to the control means 29 when the lid 28 is opened. That is, the magnetic sensor 40 is arranged so that the magnetism detected when the lid 28 is in the open state is larger than that in the closed state. For example, the magnet 25 and the lid metal are larger than the distance between the magnet 25 and the magnetic sensor 40. It arrange | positions so that the distance with the board 26 may become short. Thus, the control means 29 is a lid opening / closing detection mechanism that detects the opening / closing of the lid 28 based on the signal of the magnetic sensor 40.
以上のように構成した洗濯機について、その動作、作用を説明する。 About the washing machine comprised as mentioned above, the operation | movement and an effect | action are demonstrated.
図３は、本発明の実施の形態における洗濯機の蓋閉状態の要部断面図、図４は、同洗濯機の蓋開を始めた状態の要部断面図である。 FIG. 3 is a cross-sectional view of a main part of the washing machine according to the embodiment of the present invention when the lid is closed, and FIG. 4 is a cross-sectional view of the main part of the washing machine when the lid is opened.
図３において、蓋２８を開け、洗濯兼脱水槽３に洗濯物と洗剤を投入した後、蓋２８を閉じると、蓋２８の先端部裏面に設けられた蓋金属板２６は、操作パネル２７の内側上部に設けられた磁石２５の上部に位置する。 In FIG. 3, when the lid 28 is opened and the laundry and detergent are put into the washing and dewatering tub 3 and then the lid 28 is closed, the lid metal plate 26 provided on the back surface of the front end of the lid 28 is attached to the operation panel 27. It is located in the upper part of the magnet 25 provided in the inner upper part.
蓋金属板２６が磁石２５に近づくと、磁力線が蓋金属板２６に吸い寄せられ、矢印で示
す磁気回路を形成すると共に、プリント基板３１上に設けられた磁気センサー４０が検知する磁束密度は低下し、出力信号はローとなって制御手段２９に入力され、蓋２８が閉状態になったと判定されて、運転が開始される。
When the lid metal plate 26 approaches the magnet 25, the magnetic field lines are attracted to the lid metal plate 26 to form a magnetic circuit indicated by an arrow, and the magnetic flux density detected by the magnetic sensor 40 provided on the printed circuit board 31 decreases. The output signal becomes low and is input to the control means 29, and it is determined that the lid 28 is closed, and the operation is started.
運転が開始されると、例えば、洗い行程であれば、給水弁９を作動して洗濯兼脱水槽３内に設定水位まで給水し、その後、撹拌翼２を回転駆動することにより、衣類に機械力を加えて、汚れを落とし、また、すすぎ行程においても、洗濯兼脱水槽３内に設定水位まで給水し、撹拌翼２を回転駆動することにより、衣類をすすぐ。 When the operation is started, for example, in the washing process, the water supply valve 9 is operated to supply water to the set water level in the washing and dewatering tub 3, and then the agitating blade 2 is driven to rotate so that the clothes can be machined. Applying force to remove dirt, and also in the rinsing process, water is supplied to the set water level in the washing and dewatering tub 3 and the stirring blade 2 is driven to rotate, thereby rinsing clothes.
図４において、脱水行程では、排水弁８を駆動し、洗濯兼脱水槽３内の水を排水した後、モータ６を駆動し、洗濯兼脱水槽３を高速で回転して遠心力で洗濯物の脱水を行うが、このとき、洗濯物の状態を見るなどのために、使用者が蓋２８を開けると、蓋２８に取り付けられた蓋金属板２６が磁石２５から離れ、蓋金属板２６に引き付けられていた磁力線は広がり、磁気センサー４０が検知する磁束密度が増加するため、出力信号はハイとなって制御手段２９に入力され、制御手段２９は蓋２８が開状態になったと判定して、安全のためにモータ６を停止し、減速機構兼クラッチ７に内蔵されているブレーキ（図示せず）をかけて、洗濯兼脱水槽３の回転を停止させる。 In FIG. 4, in the dehydration process, the drain valve 8 is driven to drain the water in the washing / dehydrating tub 3, and then the motor 6 is driven to rotate the washing / dehydrating tub 3 at a high speed to wash the laundry with centrifugal force. At this time, when the user opens the lid 28 in order to check the state of the laundry, the lid metal plate 26 attached to the lid 28 is separated from the magnet 25, and the lid metal plate 26 is moved to the lid metal plate 26. Since the attracted magnetic field lines spread and the magnetic flux density detected by the magnetic sensor 40 increases, the output signal becomes high and is input to the control means 29. The control means 29 determines that the lid 28 is in the open state. For safety, the motor 6 is stopped, and a brake (not shown) built in the speed reduction mechanism / clutch 7 is applied to stop the rotation of the washing / dehydration tub 3.
以上のように、本実施の形態においては、磁石は、上部側を蓋金属板に対向し、下部側を磁気センサーに対向して配置され、制御手段は、磁気センサーが磁石からの磁力線および磁力線の変化を検知して出力する信号を入力して、蓋の開閉状態を判別する構成としたことにより、磁石と蓋開閉検知手段とを近くに配置することができるため、蓋開閉検知手段として磁気センサーの使用が可能となり、振動に強く、機械的強度にもすぐれ、かつ安価な蓋開閉検知装置とすることができる。 As described above, in the present embodiment, the magnet is arranged with the upper side facing the lid metal plate and the lower side facing the magnetic sensor, and the control means is configured such that the magnetic sensor has a magnetic field line and a magnetic field line from the magnet. By detecting the change in the position and inputting the signal to be output to determine the open / closed state of the lid, the magnet and the lid open / close detection means can be placed close to each other. The sensor can be used, and the lid open / close detection device can be provided with high vibration resistance, mechanical strength, and low cost.
以上のように、本発明にかかる洗濯機は、磁気センサーと蓋金属板との組み合わせで蓋の開閉検知を可能としたため、振動に強く、機械的強度にもすぐれ、かつ安価な蓋開閉検知装置を実現することが可能となるので、蓋開閉検知装置を有する他の洗濯機の用途に適用できる。 As described above, since the washing machine according to the present invention can detect the opening / closing of the lid by combining the magnetic sensor and the lid metal plate, the lid opening / closing detection device is resistant to vibration, excellent in mechanical strength, and inexpensive. Therefore, the present invention can be applied to other washing machines having a lid open / close detection device.
１２ 衣類投入口
２５ 磁石
２６ 蓋金属板
２７ 操作パネル
２８ 蓋
２９ 制御手段
３０ 制御装置
３５ 上部枠体
４０ 磁気センサー
DESCRIPTION OF SYMBOLS 12 Clothing inlet 25 Magnet 26 Lid metal plate 27 Operation panel 28 Lid 29 Control means 30 Control apparatus 35 Upper frame 40 Magnetic sensor
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| JP2012143725A JP2014004271A (en) | 2012-06-27 | 2012-06-27 | Washing machine |
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| JP2012143725A JP2014004271A (en) | 2012-06-27 | 2012-06-27 | Washing machine |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106521869A (en) * | 2015-09-14 | 2017-03-22 | 松下家电研究开发（杭州）有限公司 | Method for detecting opening and closure of cover of clothing processing device, and clothing processing device |
| CN107523970A (en) * | 2017-09-18 | 2017-12-29 | 青岛海尔洗衣机有限公司 | A kind of washing machine cover opening-closing structure and washing machine |
| CN109706694A (en) * | 2017-10-25 | 2019-05-03 | 青岛海尔洗衣机有限公司 | Top-opening type clothes treatment device and its inside drum cover detection components |
| KR20220152624A (en) * | 2021-05-10 | 2022-11-17 | 강희찬 | Hanger type laundry treating machine and driving method thereof |
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2012
- 2012-06-27 JP JP2012143725A patent/JP2014004271A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106521869A (en) * | 2015-09-14 | 2017-03-22 | 松下家电研究开发（杭州）有限公司 | Method for detecting opening and closure of cover of clothing processing device, and clothing processing device |
| CN106521869B (en) * | 2015-09-14 | 2019-01-11 | 松下家电研究开发（杭州）有限公司 | The cover opening and closing inspection method and its clothes treatment device of clothes treatment device |
| CN107523970A (en) * | 2017-09-18 | 2017-12-29 | 青岛海尔洗衣机有限公司 | A kind of washing machine cover opening-closing structure and washing machine |
| CN107523970B (en) * | 2017-09-18 | 2022-07-08 | 佛山市顺德海尔电器有限公司 | Washing machine cover body opening and closing structure and washing machine |
| CN109706694A (en) * | 2017-10-25 | 2019-05-03 | 青岛海尔洗衣机有限公司 | Top-opening type clothes treatment device and its inside drum cover detection components |
| CN109706694B (en) * | 2017-10-25 | 2021-08-24 | 青岛胶南海尔洗衣机有限公司 | Top-opening clothes treatment equipment and inner cylinder cover detection assembly thereof |
| KR20220152624A (en) * | 2021-05-10 | 2022-11-17 | 강희찬 | Hanger type laundry treating machine and driving method thereof |
| KR102520674B1 (en) * | 2021-05-10 | 2023-04-10 | 강희찬 | Hanger type laundry treating machine and driving method thereof |
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